IEEE Robotics & Automation Magazine - December 2020 - 56
Design and
Optimization
of a Dextrous
Robotic
Finger
Incorporating a
Sliding, Rotating,
and Soft-Bending
Mechanism While
Maximizing Dexterity
and Minimizing
Dimensions
©SHUTTERSTOCK/JACKIE NIAM
By Amir Pagoli, Frédéric Chapelle, Juan-Antonio Corrales-Ramon,
Youcef Mezouar, and Yuri Lapusta
I
n this article, we introduce a new soft finger with a
pneumatic-actuated movable joint that is optimized and
characterized in terms of the degrees of freedom (DoF),
workspace, and fingertip force. The finger consists of
one soft link as the body and the bending pneumatic
joint as the actuator. Due to the additional translation and
rotation movement capabilities of the joint, carried out by
two stepper motors, the finger can bend in any direction
while having different lengths, thanks to a configurable
bending point. This results in more dexterity for the finger
when dealing with a target inside its 3D workspace by
increasing the number of configurations it can use to reach
the target and exert force. The finite element method
(FEM) and the Nondominated Sorting Genetic Algorithm
II (NSGA-II) algorithm are applied to optimize the joint
Digital Object Identifier 10.1109/MRA.2020.3024283
Date of current version: 8 October 2020
56
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
DECEMBER 2020
geometry and so maximize the bending angle and
minimize the joint dimensions. Furthermore, the
variations of each design parameter and consequent
effects on the optimization objectives are analyzed. The
optimal geometrical parameters are used to fabricate a
prototype with silicone rubber. Tests on the bending angle
and tip force variability are conducted on the prototype to
validate the numerical modeling. The experimental
results show that the finger exerts force up to 650 mN
with a response time of fewer than 3 s. The stiffness of the
finger can be changed by applying pneumatic pressure in
the hollow space inside the link. This consequently varies
the amount of applied force at the tipping point of the
finger up to two times.
Fluidic Elastomer Actuation Actuators
Introduced as a novel technology in recent years, soft robotics
broadens new horizons in the field of robotics, thanks to
1070-9932/20©2020IEEE
IEEE Robotics & Automation Magazine - December 2020
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2020
Contents
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